version: 66.03
glider: 120
mission: 9
dive: 160
start: 10 27 108 4 29 58
data:
$ID,120
$MISSION,9
$DIVE,160
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21055.307
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,042337,5011.253,-14426.777,37,1.2,37,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-72.6
$GPS2,042903,5011.281,-14426.741,15,1.2,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.176
$KALMAN_X,40297.6,46.6,-82.8,-12956.0,414.4
$KALMAN_Y,122616.6,-78.6,201.6,-112117.8,1044.7
$MHEAD_RNG_PITCHd_Wd,170.3,32195,-12.0,-5.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-12.32,0.000,2,0.000,0.000,148,2404,1969
$GC,37,-0.67,-117.3,3.4,-0.0,1,112,13.73,2.47,-51.95,0.000,4,0.283,0.092,3085,3806,3356
$GC,236,-0.32,-117.3,25.2,-13.3,19,242,0.45,2.28,0.00,0.000,6,0.160,0.055,3213,2396,3358
$GC,561,-0.43,-117.3,46.7,-7.0,49,566,0.12,2.33,0.00,0.000,4,0.081,0.067,3168,983,3359
$GC,583,-0.50,-117.3,48.5,-7.8,50,590,0.00,2.30,0.00,0.000,6,0.000,0.059,3167,2401,3359
$GC,908,-0.50,-117.3,71.9,-6.5,81,912,0.00,2.38,0.00,0.000,4,0.000,0.077,3167,3822,3360
$GC,951,-0.58,-117.3,74.5,-6.1,84,959,0.08,2.28,0.00,0.000,6,0.074,0.051,3128,2402,3360
$GC,1270,-0.53,-117.3,96.8,-7.2,104,1274,0.00,2.30,0.00,0.000,4,0.000,0.066,3127,985,3361
$GC,1342,-0.45,-117.3,102.4,-8.2,107,1346,0.15,2.30,0.00,0.000,6,0.157,0.059,3166,2402,3361
$GC,1663,-0.45,-117.3,121.9,-6.1,123,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2402,3361
$GC,1972,-0.51,-117.3,141.5,-6.6,138,1976,0.00,2.35,0.00,0.000,4,0.000,0.078,3166,3815,3362
$GC,2000,-0.62,-117.3,143.3,-6.3,139,2004,0.15,2.25,0.00,0.000,6,0.083,0.053,3110,2393,3361
$GC,2323,-0.55,-117.3,167.0,-6.9,151,2327,0.00,2.28,0.00,0.000,4,0.000,0.068,3110,993,3362
$GC,2481,-0.49,-117.3,178.0,-6.8,155,2487,0.17,2.28,0.00,0.000,6,0.156,0.061,3158,2402,3361
$GC,2793,-0.57,-117.3,193.4,-5.1,166,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2402,3361
$GC,3099,-0.66,-117.3,210.2,-5.5,176,3101,0.17,0.00,0.00,0.000,6,0.080,0.000,3091,2403,3360
$GC,3405,-0.56,-117.3,233.8,-7.9,186,3410,0.15,2.33,0.00,0.000,4,0.152,0.069,3137,992,3360
$GC,3455,-0.60,-117.3,237.6,-6.8,187,3459,0.00,2.30,0.00,0.000,6,0.000,0.062,3137,2411,3360
$GC,3778,-0.60,-117.3,258.7,-6.6,198,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2411,3360
$GC,4085,-0.60,-117.3,278.2,-6.4,208,4089,0.00,2.33,0.00,0.000,4,0.000,0.071,3138,991,3359
$GC,4118,-0.60,-117.3,280.5,-6.9,209,4122,0.00,2.30,0.00,0.000,6,0.000,0.064,3137,2406,3359
$GC,4459,-0.64,-117.3,301.0,-5.8,220,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2407,3359
$GC,4762,-0.69,-117.3,317.5,-5.3,225,4764,0.12,0.00,0.00,0.000,6,0.088,0.000,3088,2406,3358
$GC,5065,-0.64,-117.3,337.8,-6.8,230,5069,0.00,2.35,0.00,0.000,4,0.000,0.071,3088,985,3357
$GC,5092,-0.57,-117.3,339.8,-7.8,230,5097,0.17,2.33,0.00,0.000,6,0.157,0.064,3133,2404,3357
$GC,5422,-0.57,-117.3,358.3,-5.5,236,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3357
$GC,5726,-0.61,-117.3,374.7,-5.4,241,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3357
$GC,6029,-0.65,-117.3,390.9,-5.4,246,6033,0.00,2.33,0.00,0.000,4,0.000,0.072,3133,995,3356
$GC,6055,-0.69,-117.3,392.6,-6.2,246,6060,0.12,2.30,0.00,0.000,6,0.088,0.064,3086,2410,3356
$GC,6392,-0.69,-117.3,413.2,-6.1,252,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3356
$GC,6696,-0.65,-117.3,430.1,-5.5,257,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3356
$GC,6999,-0.61,-117.3,448.4,-6.1,262,7001,0.12,0.00,0.00,0.000,6,0.120,0.000,3120,2409,3356
$GC,7301,-0.61,-117.3,465.9,-5.8,267,7306,0.00,2.35,0.00,0.000,4,0.000,0.073,3120,986,3355
$GC,7334,-0.61,-117.3,468.0,-6.3,267,7338,0.00,2.33,0.00,0.000,6,0.000,0.065,3120,2394,3355
$GC,7666,-0.61,-117.3,486.0,-5.3,273,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2394,3355
$GC,7969,-0.61,-117.3,501.0,-5.0,278,7974,0.00,2.30,0.00,0.000,4,0.000,0.074,3120,994,3355
$GC,7996,-0.61,-117.3,502.5,-6.2,278,8000,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2393,3355
$GC,8334,-0.61,-117.3,518.5,-4.8,284,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2393,3355
$GC,8637,-0.61,-117.3,533.6,-5.0,289,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2393,3355
$GC,8940,-0.61,-117.3,548.9,-5.0,294,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2393,3354
$GC,9243,-0.61,-117.3,563.7,-4.9,299,9247,0.00,2.33,0.00,0.000,4,0.000,0.074,3120,989,3354
$GC,9281,-0.61,-117.3,565.9,-6.2,299,9285,0.00,2.33,0.00,0.000,6,0.000,0.065,3120,2400,3354
$GC,9608,-0.61,-117.3,581.5,-4.8,305,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2400,3354
$GC,9911,-0.61,-117.3,597.2,-5.2,310,9915,0.00,2.35,0.00,0.000,4,0.000,0.084,3118,3813,3354
$GC,9937,-0.66,-117.3,598.7,-5.9,310,9941,0.00,2.28,0.00,0.000,6,0.000,0.058,3118,2391,3353
$GC,10275,-0.70,-117.3,616.6,-5.4,316,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2391,3354
$GC,10579,-0.75,-117.3,632.7,-5.3,321,10581,0.12,0.00,0.00,0.000,6,0.091,0.000,3071,2391,3353
$GC,10881,-0.70,-117.3,651.4,-6.2,326,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2391,3353
$GC,11184,-0.65,-117.3,669.4,-5.9,331,11186,0.12,0.00,0.00,0.000,6,0.117,0.000,3106,2391,3353
$GC,11487,-0.65,-117.3,685.5,-5.4,336,11491,0.00,2.42,0.00,0.000,4,0.000,0.084,3100,3807,3353
$GC,11520,-0.65,-117.3,687.5,-5.8,336,11524,0.00,2.28,0.00,0.000,6,0.000,0.060,3100,2405,3353
$GC,11852,-0.65,-117.3,706.4,-5.7,342,11856,0.00,2.33,0.00,0.000,4,0.000,0.074,3100,992,3353
$GC,11895,-0.65,-117.3,709.2,-5.9,342,11899,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2401,3353
$GC,12216,-0.65,-117.3,728.2,-6.0,348,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,12519,-0.65,-117.3,746.8,-6.1,353,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,12822,-0.65,-117.3,764.8,-5.9,358,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,13125,-0.65,-117.3,782.2,-5.6,363,13126,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,13428,-0.65,-117.3,798.6,-5.4,368,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3352
$GC,13731,-0.65,-117.3,814.9,-5.4,373,13735,0.00,2.38,0.00,0.000,4,0.000,0.086,3100,3815,3352
$GC,13763,-0.65,-117.3,816.8,-5.8,373,13768,0.00,2.30,0.00,0.000,6,0.000,0.060,3100,2401,3352
$GC,14096,-0.65,-117.3,834.2,-5.3,379,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3352
$GC,14399,-0.65,-117.3,851.2,-5.7,384,14400,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3352
$GC,14702,-0.65,-117.3,868.7,-5.8,389,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,15005,-0.65,-117.3,885.8,-5.7,394,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3351
$GC,15308,-0.65,-117.3,904.1,-6.0,399,15312,0.00,2.42,0.00,0.000,4,0.000,0.087,3100,3809,3351
$GC,15345,-0.65,-117.3,906.6,-6.4,399,15349,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2396,3351
$GC,15672,-0.65,-117.3,927.0,-6.3,405,15673,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3351
$GC,15975,-0.65,-117.3,946.4,-6.4,410,15979,0.00,2.42,0.00,0.000,4,0.000,0.086,3100,3817,3351
$GC,16006,-0.65,-117.3,948.5,-6.6,410,16011,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2404,3350
$GC,16339,-0.65,-117.3,969.0,-6.2,416,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3350
$GC,16642,-0.65,-117.3,987.6,-6.0,421,16643,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3350
$STATE,16701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16701,begin apogee
$GC,16706,-0.22,0.0,991.1,6.0,422,16810,0.47,0.00,101.90,1.503,6,0.150,0.000,3242,2193,2876
$STATE,16811,end apogee,CONTROL_FINISHED_OK
$STATE,16811,begin climb
$GC,16813,0.67,117.3,993.2,0.0,423,16928,0.88,2.62,106.15,1.450,4,0.097,0.080,3533,795,2396
$GC,16956,0.26,117.3,993.7,6.4,425,16961,0.50,2.50,0.00,0.000,6,0.189,0.063,3409,2200,2394
$GC,17298,0.26,117.3,975.9,5.1,431,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2201,2393
$GC,17602,0.26,117.3,960.2,5.2,436,17603,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2201,2392
$GC,17905,0.27,117.6,945.1,5.0,441,17906,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2392
$GC,18208,0.28,129.1,930.9,4.7,446,18221,0.00,0.00,11.00,1.335,6,0.000,0.000,3408,2201,2349
$GC,18511,0.30,147.5,917.4,4.5,451,18530,0.00,0.00,17.30,1.391,6,0.000,0.000,3408,2201,2274
$GC,18814,0.32,162.1,903.6,4.6,456,18830,0.00,0.00,13.77,1.352,6,0.000,0.000,3409,2201,2215
$GC,19117,0.32,165.8,888.9,4.9,461,19124,0.00,0.00,4.95,1.040,6,0.000,0.000,3409,2201,2200
$GC,19420,0.32,165.8,873.3,5.2,466,19422,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2200
$GC,19723,0.37,165.8,856.4,5.6,471,19725,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2201,2199
$GC,20026,0.41,165.8,839.1,5.7,476,20028,0.12,0.00,0.00,0.000,6,0.090,0.000,3459,2201,2200
$GC,20330,0.31,165.8,816.6,7.5,481,20335,0.15,2.40,0.00,0.000,4,0.156,0.080,3421,784,2198
$GC,20373,0.31,165.8,813.7,6.2,481,20377,0.00,2.35,0.00,0.000,6,0.000,0.065,3421,2216,2199
$GC,20694,0.31,165.8,793.9,6.2,487,20695,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2216,2199
$GC,20997,0.31,165.8,775.2,6.2,492,20998,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2216,2199
$GC,21300,0.31,165.8,756.2,6.3,497,21301,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2216,2198
$GC,21604,0.31,165.8,737.5,6.1,502,21608,0.00,2.40,0.00,0.000,4,0.000,0.082,3421,793,2198
$GC,21636,0.31,165.8,735.4,6.2,502,21640,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2202,2198
$GC,21968,0.31,165.8,716.1,5.8,508,21969,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2198
$GC,22271,0.31,165.8,697.1,6.3,513,22272,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2199
$GC,22574,0.31,165.8,677.8,6.4,518,22575,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2198
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$STATE,33849,end climb,SURFACE_DEPTH_REACHED
$STATE,33849,begin surface coast
$FINISH,2.1,1.025145
$STATE,33967,end surface coast,CONTROL_FINISHED_OK
$STATE,33967,begin surface
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$10V_AH,10.7,21.336
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$DEVICE_SECS,29.425,173.925,353.100,15.400,0.000,29.514,26.335,157.652,249.000,0.000,0.000,15.595,1832.602,29190.812,530.046,2280.798,487.439,33.380,1645.131,0.000,2263.500,0.000,0.466
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50696,889
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$CFSIZE,260165632,246218752
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